New file formats for Swift

Author: jhavl

examples/gimbal.py

@@ -16,7 +16,7 @@
 env = rtb.backends.Swift()
 env.launch()
 
-path = pathlib.Path(path) / 'roboticstoolbox' / 'data'
+path = pathlib.Path(path) / 'rtb-data' / 'rtbdata' / 'data'
 
 
 g1 = rtb.Mesh(

examples/test.py

@@ -3,66 +3,68 @@
 # @author Jesse Haviland
 # """
 
+from math import pi
 import roboticstoolbox as rtb
-import spatialmath as sm
+from spatialmath import SO3, SE3
 import numpy as np
 import pathlib
 import os
+import time
 
 path = os.path.realpath('.')
 
 # Launch the simulator Swift
 env = rtb.backends.Swift()
 env.launch()
 
-path = pathlib.Path(path) / 'roboticstoolbox' / 'data'
+path = pathlib.Path(path) / 'rtb-data' / 'rtbdata' / 'data' / 'test-mesh'
 
-g1 = rtb.Mesh(
-    filename=str(path / 'gimbal-ring1.stl'),
-    base=sm.SE3(0, 0, 1.3)
-)
-# g1.v = [0, 0, 0, 0.4, 0, 0]
 
-g2 = rtb.Mesh(
-    filename=str(path / 'gimbal-ring2.stl'),
-    base=sm.SE3(0, 0, 1.3) * sm.SE3.Rz(np.pi/2)
-)
-g2.v = [0, 0, 0, 0.4, 0.0, 0]
+# obj_bug = rtb.Mesh(
+#     filename=str(path / 'scene.gltf'),
+#     scale=[0.001, 0.001, 0.001],
+#     base=SE3(0, 0, 0.45) * SE3.Rx(np.pi/2) * SE3.Ry(np.pi/2)
+# )
 
-g3 = rtb.Mesh(
-    filename=str(path / 'gimbal-ring3.stl'),
-    base=sm.SE3(0, 0, 1.3)
+dae = rtb.Mesh(
+    filename=str(path / 'walle.dae'),
+    base=SE3(0, -1.5, 0)
 )
-g3.v = [0, 0, 0, 0.4, 0, 0]
-
-env.add(g1)
-env.add(g2)
-env.add(g3)
 
+obj = rtb.Mesh(
+    filename=str(path / 'walle.obj'),
+    base=SE3(0, -0.5, 0)
+)
 
-panda = rtb.models.Panda()
-panda.q = panda.qr
-env.add(panda)
+glb = rtb.Mesh(
+    filename=str(path / 'walle.glb'),
+    base=SE3(0, 0.5, 0) * SE3.Rz(-np.pi/2)
+)
 
-j = 0
+ply = rtb.Mesh(
+    filename=str(path / 'walle.ply'),
+    base=SE3(0, 1.5, 0)
+)
 
+# wrl = rtb.Mesh(
+#     filename=str(path / 'walle.wrl'),
+#     base=SE3(0, 2.0, 0)
+# )
 
-def set_joint(j, x):
-    print(j)
-    panda.q[j] = x
+pcd = rtb.Mesh(
+    filename=str(path / 'pcd.pcd'),
+    base=SE3(0, 0, 1.5) * SE3.Rx(np.pi/2) * SE3.Ry(np.pi/2)
+)
 
 
-for link in panda.links:
-    if link.isjoint:
+env.add(dae)
+env.add(obj)
+env.add(glb)
+env.add(ply)
+env.add(pcd)
 
-        env.add_slider(
-            lambda x, j=j: set_joint(j, x),
-            min=link.qlim[0], max=link.qlim[1],
-            step=0.01, value=panda.q[j],
-            desc='Panda Joint ' + str(j))
-        
-        j += 1
+time.sleep(2)
 
 while(True):
-    env.process_events()
-    env.step(0.05)
+    # env.process_events()
+    env.step(0)

rtb-data/rtbdata/data/test-mesh/license.txt

@@ -0,0 +1,11 @@
+Model Information:
+* title:	Course asset (Wall-E FanArt)
+* source:	https://sketchfab.com/3d-models/course-asset-wall-e-fanart-a867551a62f04527af338b7699c1bdee
+* author:	VIvern (https://sketchfab.com/VIvern)
+
+Model License:
+* license type:	CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)
+* requirements:	Author must be credited. Commercial use is allowed.
+
+If you use this 3D model in your project be sure to copy paste this credit wherever you share it:
+This work is based on "Course asset (Wall-E FanArt)" (https://sketchfab.com/3d-models/course-asset-wall-e-fanart-a867551a62f04527af338b7699c1bdee) by VIvern (https://sketchfab.com/VIvern) licensed under CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)